Particle filter (pf) for localization using the laser scanner. The pf requires a map and laser scan.
Authors: Lirui Wang Joseph Shieh Chi-Heng Hung Nansong Yi
Note: If you are not using the default MuSHR image then you will need to install rangelibc.
Clone repo:
cd ~/catkin_ws/src/ && git clone git@github.com:prl-mushr/mushr_pf.git
For real car: roslaunch mushr_pf real.launch
For sim: roslaunch mushr_pf sim.launch
See this tutorial for more information.
Parameters can be changed in config/params.yaml
| Topic | Type | Description |
|---|---|---|
/car/pf/inferred_pose |
geometry_msgs/PoseStamped | Particle filter pose estimate |
/car/pf/viz/particles |
geometry_msgs/PoseArray | Partilcle array. Good for debugging |
/car/pf/viz/laserpose |
geometry_msgs/PoseArray | Pose fo the laser |
| Topic | Type | Description |
|---|---|---|
/map |
nav_msgs/OccupancyGrid | Map the robot is in |
/car/scan |
sensor_msgs/LaserScan | Current laserscan |
/car/vesc/sensors/servo_position_command |
std_msgs/Float64 | Current steering angle |
/car/vesc/sensors/core |
vesc_msgs/VescStateStamped | Current speed |